1 #ifndef hpp_core_idl__steering__methods_hxx__ 2 #define hpp_core_idl__steering__methods_hxx__ 24 template <
typename _Base,
typename _Storage>
31 template <
typename _Base,
typename _Storage>
39 template <
typename _Base,
typename _Storage>
48 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Path,hpp::core_impl::Path>(server_, __return__)._retn();
49 }
catch (
const std::exception& e) {
50 throw ::hpp::Error (e.what());
54 template <
typename _Base,
typename _Storage>
59 hpp::core::ConstraintSetPtr_t _constraints = ::hpp::corbaServer::reference_to_object<hpp::core::ConstraintSet>(server_, constraints);
60 (getT()->constraints (_constraints));
63 }
catch (
const std::exception& e) {
64 throw ::hpp::Error (e.what());
68 template <
typename _Base,
typename _Storage>
74 hpp::core::ConstraintPtr_t __return__ (getT()->constraints ());
76 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Constraint,hpp::core_impl::Constraint>(server_, __return__)._retn();
77 }
catch (
const std::exception& e) {
78 throw ::hpp::Error (e.what());
94 namespace steeringMethod_impl {
95 template <
typename _Base,
typename _Storage>
102 template <
typename _Base,
typename _Storage>
110 template <
typename _Base,
typename _Storage>
121 hpp::core::PathPtr_t __return__ (getT()->steer (_q1, _order1, _derivatives1, _q2, _order2, _derivatives2, length));
123 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Path,hpp::core_impl::Path>(server_, __return__)._retn();
124 }
catch (
const std::exception& e) {
125 throw ::hpp::Error (e.what());
141 namespace core_impl {
143 namespace steeringMethod_impl {
144 template <
typename _Base,
typename _Storage>
151 template <
typename _Base,
typename _Storage>
159 template <
typename _Base,
typename _Storage>
170 hpp::core::PathPtr_t __return__ (getT()->steer (_q1, _order1, _derivatives1, _q2, _order2, _derivatives2, length));
172 return ::hpp::corbaServer::makeServantDownCast<hpp::core_impl::Path,hpp::core_impl::Path>(server_, __return__)._retn();
173 }
catch (
const std::exception& e) {
174 throw ::hpp::Error (e.what());
189 #endif // hpp_core_idl__steering__methods_hxx__ virtual ~SplineBernstein5Servant()
Definition: steering_methods.hh:152
SteeringMethodServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: steering_methods.hh:25
core::matrix_t floatSeqSeqToMatrix(const floatSeqSeq &input, const size_type expectedRows=-1, const size_type expectedCols=-1)
hpp::core_idl::Constraint_ptr getConstraints()
Definition: steering_methods.hh:69
Implement CORBA interface `‘Obstacle’'.
Definition: client.hh:46
sequence< floatSeq > floatSeqSeq
Definition: common.idl:35
hpp::core_idl::Path_ptr call(const hpp::floatSeq &q1, const hpp::floatSeq &q2)
Definition: steering_methods.hh:40
std::vector< int > intSeqToVector(const intSeq &dofArray)
hpp::core_idl::Path_ptr steer(const hpp::floatSeq &q1, const hpp::intSeq &order1, const hpp::floatSeqSeq &derivatives1, const hpp::floatSeq &q2, const hpp::intSeq &order2, const hpp::floatSeqSeq &derivatives2, ::CORBA::Float length)
Definition: steering_methods.hh:160
vector_t floatSeqToVector(const floatSeq &dofArray, const size_type expectedSize=-1)
sequence< long > intSeq
Definition: common.idl:31
hpp::core_idl::Path_ptr steer(const hpp::floatSeq &q1, const hpp::intSeq &order1, const hpp::floatSeqSeq &derivatives1, const hpp::floatSeq &q2, const hpp::intSeq &order2, const hpp::floatSeqSeq &derivatives2, ::CORBA::Float length)
Definition: steering_methods.hh:111
pinocchio::vector_t vector_t
Definition: fwd.hh:109
virtual ~SplineBernstein3Servant()
Definition: steering_methods.hh:103
virtual ~SteeringMethodServant()
Definition: steering_methods.hh:32
SplineBernstein3Servant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: steering_methods.hh:96
Implementation of Hpp module Corba server.
Definition: server.hh:77
pinocchio::matrix_t matrix_t
Definition: fwd.hh:107
void setConstraints(hpp::core_idl::ConstraintSet_ptr constraints)
Definition: steering_methods.hh:55
_objref_Constraint * Constraint_ptr
Definition: _constraints-idl.hh:219
_objref_ConstraintSet * ConstraintSet_ptr
Definition: _constraints-idl.hh:480
SplineBernstein5Servant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: steering_methods.hh:145
Definition: steering_methods-fwd.hh:27
_objref_Path * Path_ptr
Definition: path_planners-idl.hh:83
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:34
core::PathPtr_t PathPtr_t
Definition: fwd.hh:97